It is critical to master a marine robot's energy system characteristics adequately to ensure that the robot can perform long-endurance tasks in complex and ever-changing marine environments. This paper presents, for the first time, an energy system modeling and analysis method for a marine robot driven by wind, solar, and wave composite energy, using Yulang II as an example. First, an onshore experiment method was designed, and then the conversion experiment of wind, sunlight, and electrical energy was carried out based on that experiment method. At the same time, based on computational fluid dynamics technology, a resistance pole curve considering wave energy capture is constructed. In addition, the attitude, relative motion, and battery constraints of the robot in the ocean are analyzed to construct the energy system model of Yulang II. Finally, the method and model proposed in this paper were compared and verified by simulation and field tests. The results indicated that the corrected forecast deviation was 5.71% in the typical marine environment of the experiment, which supported the study of ocean energy-driven unmanned marine vehicles strongly.

中文翻译：

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海洋能驱动无人船能源系统建模分析与实验——玉浪二号案例研究

充分掌握海洋机器人的能量系统特性对于确保机器人能够在复杂多变的海洋环境中执行长航时任务至关重要。本文以“玉浪二号”为例，首次提出了风能、太阳能和波浪复合能驱动的海洋机器人的能源系统建模与分析方法。首先设计了陆上实验方法，然后基于该实验方法进行了风、光、电能的转换实验。同时，基于计算流体力学技术，构建了考虑波浪能捕获的阻力极点曲线。此外，还分析了机器人在海洋中的姿态、相对运动和电池约束，构建了玉浪二号的能源系统模型。最后通过仿真和现场试验对本文提出的方法和模型进行了比较和验证。结果表明，在实验典型海洋环境下，修正预报偏差为5.71%，为海洋能驱动无人海上航行器的研究提供了有力支持。